Your period when you are on birth control is not menstruation. Menstruation is a biological cycle that takes around 28 days on average. Your pill period is withdrawal bleeding. It happens because the level of the pill hormones in your body drops, which makes your uterus lining bleed. That is why missing a pill makes you bleed (hormone level drops), and then taking it later makes it stop (hormone level rises).
If you took the missed pill within 24 hours of missing it, you are still pretty safe. Not as safe as if you just took it on time, but only marginally less safe. Not enough to worry about.
You understand your circumstances better than any of us. If you absolutely cannot afford to get pregnant, take the extra step and use emergency contraceptives. If not and you are one in 1000 that gets pregnant from that, you will always blame yourself for not taking it.
Take care